EP0491208A2 - Méthode et dispositif pour la mesure optique d'un angle et des positions de structures, en particulier de positions des roues d'un automobile - Google Patents

Méthode et dispositif pour la mesure optique d'un angle et des positions de structures, en particulier de positions des roues d'un automobile Download PDF

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Publication number
EP0491208A2
EP0491208A2 EP91120606A EP91120606A EP0491208A2 EP 0491208 A2 EP0491208 A2 EP 0491208A2 EP 91120606 A EP91120606 A EP 91120606A EP 91120606 A EP91120606 A EP 91120606A EP 0491208 A2 EP0491208 A2 EP 0491208A2
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EP
European Patent Office
Prior art keywords
angle
light
measured
light beam
leg
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP91120606A
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German (de)
English (en)
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EP0491208A3 (en
EP0491208B1 (fr
Inventor
Simone Longa
Marco Castelnuovo
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hofmann Werkstatt Technik GmbH
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Hofmann Werkstatt Technik GmbH
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Publication of EP0491208A3 publication Critical patent/EP0491208A3/de
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes

Definitions

  • the invention relates to a method and a device for optically measuring an angle which positions of components, in particular wheel positions on vehicles, form with respect to one another with the aid of light beams.
  • the object of the invention is therefore to provide a method and a device for the optical measurement of an angle, the positions of components, in particular wheel positions on vehicles, in which a large angular range can be detected with high accuracy.
  • the angle measurement is based on the light beams which are detected at time intervals from one another.
  • the time intervals between these light beams correspond to the size of the angle to be measured.
  • the time interval or the angle variable to be measured can be registered, for example the time interval can be recorded by counting, by length measurement, by register intervals in memories or the like. These are registered signals, the distances of which can then be evaluated with the aid of a computer to determine the angle size.
  • the angle measuring method according to the invention or the angle measuring device according to the invention can preferably be used in a wheel position measuring device, in particular when measuring motor vehicle wheels.
  • the first light source is arranged in the extension of the respective wheel axis. This emits a light beam along the extension of the wheel axis, which forms the first leg of the angle to be measured.
  • This light beam can form a reference light beam.
  • the first light source can therefore be referred to as a reference light source.
  • This first one The light beam or reference light beam is directed at the diaphragm device, which likewise lies in the extension of the respective wheel axis and performs its diaphragm function at the apex of the angle to be measured.
  • each vehicle wheel is assigned two second light sources, of which one light source directs its light beam backwards with respect to the longitudinal direction of the vehicle and the other light source directs its light beam forward.
  • a fixed mirror is assigned to each vehicle wheel, which is illuminated by the forward-facing light source in a respective front wheel and by the rear-facing light source in a respective rear wheel.
  • the rear-facing light source assigned to a respective front wheel directs its light beam onto the diaphragm device, which is arranged in the extension of the wheel axis of the rear wheel on the same vehicle side, and the forward-directed light source at the respective rear wheel directs its light beam onto the diaphragm device, which in the extension the respective wheel axle of the front wheel is provided on the same side of the vehicle.
  • a wheel position measuring device for a vehicle in particular a motor vehicle, is measured in the horizontal plane.
  • a rotating diaphragm device which rotates at a constant speed, is preferably used as the diaphragm device. From such an aperture device, a time standard for a full angle (360 o ), which can be subdivided practically as desired, can be obtained in a simple manner.
  • the diaphragm device has a passage for the respective light beam from the light sources in the way that whenever this passband is present in the angular position of the respective light beam, the light beam is transmitted to the light receiver. The different light beams therefore arrive at the light receiver at different times in time and are accordingly registered and recorded in the signal registration device, so that they can then be evaluated with computer support for the angle calculation.
  • the detectable angular range is approximately 360 o . It is only limited by the practically negligible blind angles of the light sources emitting the light beams.
  • the measurement resolution can be set as high as desired because the angle measurement is based on a time measurement whose time standard (one revolution of the diaphragm device, which is preferably designed as a surface reflecting at selected angles of incidence in the direction of the light receiver) can be divided into incremental angles of any size.
  • the measuring device ensures long-term stability since the calibration is not linked to electronic components. When used in wheel position measuring devices, a reduction in the number of sensors is achieved compared to known measuring arrangements. A sensor arrangement is only required for the respective vehicle wheel.
  • the first light source reference light source
  • the two second light sources the fixed mirror
  • the light receiver With this arrangement it is possible to measure all angles of interest in the wheel position measurement in the horizontal plane. It is also possible to measure large wheel deflections, for example the maximum steering deflection angle of each wheel, without this requires additional turntables with additional sensors.
  • the wheelbase can be measured directly to the direction of travel by detecting the wheel size.
  • FIG. 1 schematically shows a device for optically measuring an angle, which is an exemplary embodiment of the invention.
  • the device shown is used to measure two angles a and b, which can be located in a horizontal or also in a vertical plane or in an intermediate, inclined plane.
  • the device contains a first light beam source 3, which emits a light beam along a first leg S1 of angle a or angle b. This light beam forms a reference light beam, which is why the light beam source 3 also acts as a reference emitter.
  • a diaphragm device is provided which has a rotating mirror 4 in the illustrated embodiment.
  • the rotating mirror 4 is driven by means of a motor 5, which can be a direct current motor or stepper motor or the like, at a constant speed.
  • the vertex SO is on a reflective surface 22 of the rotating mirror 4.
  • the rotating mirror 4 or its reflecting surface 22 is rotated about an axis of rotation D by the motor 5 at a constant speed.
  • the reflecting surface 22 is arranged inclined with respect to this axis of rotation and preferably has an angle of 45 ° with respect to this axis of rotation D (FIG. 4).
  • the apex SO of the angle a or angle b lies in the axis of rotation D of the reflecting surface 22.
  • the reference beam of the light beam source 3 aligned along the leg S1 runs at a right angle to the axis of rotation D and meets at Vertex SO on the reflective surface 22 of the rotating mirror 4.
  • the axis of rotation D extends at right angles to the plane in which the angle a or b to be measured lies.
  • the second light beam source 8 consists of two emitters A2, B2, which are directed to the apex SO of the angle a to be measured.
  • a light beam emitted by another second light beam source 7 is directed along the leg S3 of the angle b to the apex SO.
  • the light beam is generated by two emitters A1, B1.
  • the light beams of the two emitters A1 and B1 are directed onto a fixed mirror 10 and from there are reflected in the direction of the apex SO of the angle b to be measured along the leg S3.
  • a polarizer 9 can be arranged in the beam path of the light beam along the leg S3.
  • the second light beam source 7 which consists of the two emitters A1 and B1, to emit light beams directly along the leg S3 to the apex SO, which is located on the reflecting surface 2.
  • a light receiver 1 is located in the extension of the axis of rotation D of the rotating mirror 4.
  • the light receiver 1 receives the light reflected by the reflecting surface 22.
  • the reflecting surface 22 rotates continuously in each case through a full angle (360 ° ) with a constant rotational speed.
  • the reflecting surface 22 takes up one position for the light beams aligned along the legs S1 and S2 or S3 once per full-angle pass a, in which the respective light beam is reflected in the direction of the light receiver 1.
  • the time difference between the reflection of the light beam along the leg S1 and the reflection of the light beam along the leg S2 or S3 in the direction of the light receiver 1 depends on the size of the angle a or b to be measured and on the known rotational speed of the rotating mirror 4 from. It is therefore possible to determine the size of the angle a or b by detecting this time difference.
  • FIG. 2 shows another embodiment of an optical angle measuring device.
  • a light receiver 1 ' is aligned parallel to the first leg S1 or parallel to the reference beam emitted by the first light beam source 3.
  • a rotating mirror 4 ' also has a rotating reflecting surface 22', in which the apex SO of the angle a or b to be measured lies.
  • the reflecting surface 22 ′ extends perpendicular to the plane in which the angle a or b to be measured lies.
  • an axis of rotation D 'of the rotating mirror 4' lies in the reflecting surface 22 '.
  • the rotating mirror 4 ' is also driven by a motor 5'.
  • emitters A1, B1 and A2, B2 are provided for the second light beam sources 7 and 8, in the second light beam sources 7 'and 8' of the embodiment of FIG. 2 reflectors A3, B3 and A4, B4 used. These reflectors reflect the light beam reflected by the rotating mirror 4 ′ and emitted by the first light beam source 3.
  • the angle measuring device shown in FIG. 2 operates as follows.
  • the light beam emitted by the first light beam source 3 along the leg S1 is optionally focused and / or modulated by a lens system 9 '. This light beam is directed onto the rotating mirror 4 '. If the reflecting surface 22 ′ is in the reflection position with respect to the first leg S1 during the rotation of the rotating mirror, ie if the leg S1 is perpendicular to the reflecting surface 22 ′, the emitted light beam is reflected back along the leg S1 and strikes the light receiver 1 '. During the further rotation of the rotating mirror 4 ', the reflecting surface 22' comes into a position in which the light beam emitted by the first light source 3 strikes the reflector A4 of the second light beam source 8 '.
  • the light beam is reflected back onto the reflecting surface 22 'and from there it is directed along the first leg S1 onto the light receiver 1'.
  • the rotating mirror 4 ' continues to rotate, the light beam emitted by the first light beam source 3 is deflected onto the reflector B4 via the reflecting surface 22' and reflected back from there and, as already described, passed on to the light receiver 1 '.
  • the reflected light beams are received by the light receiver 1 'at different times.
  • the light beam emitted by the first light beam source 3 is reflected in the corresponding reflection positions by the reflectors A3 and B3 of the second light beam source 7 ′ via the fixed mirror 10.
  • the second light beam source 7 ' too, only one reflector can be arranged in the direction R3.
  • R3 has the same angle with respect to the surface normal N of the fixed mirror 10 as the second leg S3 of the angle b to be measured.
  • a respective beam is reflected along the angle legs S1, S2 or S3 in the direction of the light receiver 1.
  • reflected rays are always received by the light receiver 1 'when the surface normal of the reflecting surface 22' forms the bisector of the respective angle between the reference leg S1 and the respective reflectors A3, B3, A4, B4. 5 shows the position of the rotating mirror 4 in the event that the reference beam emitted by the first light beam source 3 is reflected to the light receiver 1 1.
  • the light receiver 1 delivers an electrical output signal in pulse form. 3 is at the time Such a pulse-shaped output signal is represented by tR1.
  • the light beam is reflected back along the reference leg S1 at the time tR1. If the rotating mirror 4 or 4 'and the reflecting surface 22 or 22' have passed through a full angle (360 ° ) during the subsequent rotation, the same positioning of the rotating mirror with respect to the first light beam source 3 and the light receiver 1 results, so that again a reference beam is reflected onto the light receiver 1 and a further output signal is generated by the light receiver 1.
  • This pulse-shaped output signal is shown in FIG. 3 at time tR2.
  • the time difference between the two pulses at times tR1 and tR2 is tR. This time difference tR (time standard) corresponds to a full angle (360 o ).
  • the rotating mirror assumes its respective reflecting positions, in which it reflects the radiation emitted by the emitters belonging to the second light beam source 8 to the light receiver 1 or 1 '
  • the tA2 or tA4 and tB2 or tB4 are generated at time intervals tR1 Pulses delivered as output signals from the light receiver 1 or 1 '(Fig. 3).
  • pulses are generated as output signals from the light receiver 1 or 1 'when the rotating mirror 4 or 4' and its reflecting surface 22 or 22 'assume the corresponding reflection positions.
  • the light beams emitted by the light beam sources 3, 7, 7 'and 8, 8' can be modulated in a suitable manner with the aid of a modulator 15.
  • suitable polarizers such as polarizer 9 (FIGS. 1, 2)
  • filters and the like can be provided in each of the beam paths.
  • a corresponding demodulator 12 for example a filter, is therefore connected to the output of the light receiver 1 or 1 ′, as can be seen in FIG. 4.
  • a locking circuit 14 is connected to the output of the demodulator 12, which latches a count value, which is supplied by a counter 13, at the time of a respective pulse shown in FIG. 3 and forwards it to a memory 18 via a processor 17 for storage.
  • the data stored in the memory 18, which correspond to the time differences tR, tA2 (tA4), tB2 (tB4), tA1 (tA3) and tB1 (tB3), are processed in the processor 17 in accordance with the equations given above for calculating the angles a and b evaluated. This process is repeated with each revolution of the rotating mirror 4 or 4 ′, the rotation of the rotating mirror being controlled by a motor control device 16 which is connected to the processor 17. The operation of the processor 17 is controlled by a control unit 21.
  • a reference memory 19 is also connected to the processor 17. This can contain, for example, mean values of previously calculated angle values. Through continuous averaging, the most accurate possible angle calculation can be achieved in several successive cycles. The determined angle values are then fed by the processor 17 to a data output device 20, from which the calculated angle values can be taken.
  • FIGS. 5 and 6 show an exemplary embodiment of a device for optical angle measurement, in particular for use when measuring wheel positions on vehicles, in particular motor vehicles.
  • the device shown in FIGS. 5 and 6 forms a sensor unit which can be assigned to a respective motor vehicle wheel, as will be explained in more detail below.
  • the sensor unit shown in FIGS. 5 and 6 has, as the reference beam source, the first light beam source 3 for emitting the reference beam along the reference leg S1 of the angle a or b to be measured. Furthermore, the sensor unit has the rotating mirror 4, which is mounted in a rotating support 6. The rotary support 6 is driven by the motor 5, which can be a direct current motor, stepper motor or the like, at a constant speed.
  • the light receiver 1 is provided in the axis of rotation D. The light receiving surface of the light receiver 1 is directed onto the reflecting surface 22 of the rotating mirror 4. If the reflecting surface 22 is arranged in the position shown in FIG.
  • the reference beam emitted by the light beam source 3 reflects on the light receiver 1.
  • the incident reference beam and the reflected reference beam enclose an angle of 90 ° .
  • the reference beam is directed at an angle of 90 ° with respect to the axis of rotation D onto the reflecting surface 22 of the rotating mirror 4.
  • the same arrangement is used for the other light beam sources if their light beams, as shown in FIG. 1, are reflected in the direction of the light receiver 1.
  • the second light beam sources 7 and 8 are mounted on a frame-shaped support 2 together with the light receiver 1 and the light beam source 3.
  • the arrangement of these second light beam sources 7 and 8 is provided in such a way that the two emitters A2, B2 belonging to the light beam source 8 emit their light beams in the forward direction and the emitters A1 and B1 belonging to the other second light beam source 7 emit their light beams in the reverse direction.
  • the arrangement of the light source 3 of the light receiver 1 'of the rotating mirror 4' and the reflectors shown in FIG. 2 can be provided in a support corresponding to the frame-shaped support 2.
  • the light beams emitted by the second light beam sources 7 and 8 meet rotating mirrors from sensor devices which are assigned to the other motor vehicle wheels of the motor vehicle, so that corresponding angles for determining the wheel positions are calculated in accordance with the method explained with reference to FIGS. 1, 2 and 3.
  • the fixed mirror 10 is provided for each sensor device assigned to a motor vehicle wheel VR1, VR2 (front wheels) or HR1, HR2 (rear wheels).
  • the fixed mirrors 10 as seen in the longitudinal direction of the motor vehicle, are arranged in front of the front axles of the two front wheels VR1, VR2.
  • the two light beams emitted by the emitters of the forwardly directed second light beam source form an angle and impinge on the fixed mirror 10.
  • the bisector of this angle in the horizontal plane takes an angle of 45 ° with respect to the surface normal N of the reflecting surface of the fixed mirror 10. This angle size is, for example, equal to the size of the angle c in FIG. 1.
  • FIG. 7 shows an arrangement of optical angle measuring devices for forming a wheel position measuring device in motor vehicles.
  • Each vehicle wheel namely the two front wheels VR1 and VR2 and the two rear wheels HR1 and HR2, is assigned a unit 23, 24, 25, 26 containing a sensor unit.
  • Each unit is attached to the motor vehicle wheel in such a way that the light beam source 3 (reference emitter) lies in the wheel axis and the light beam emitted by this light beam source corresponds to the extension of the wheel axis (corresponds to leg S1 in FIG. 1).
  • the respective structural unit is fastened to the vehicle wheel with the aid of known fastening means. As shown in FIG.
  • the two light beams of the light beam source 7 in the two units 23 and 24 for the front wheels are directed backwards onto the respective rotating mirrors 4 and 4 'of the units 25 and 26 on the two rear wheels HR1, HR2.
  • the two emitters or beams of the second light beam source 7 or 7 'of the units 25 and 26, which are assigned to the two rear wheels, are directed backwards onto the respective fixed mirrors 10, which belong to the units 25 and 26.
  • the two fixed mirrors 10 of the structural units 25 and 26 are, seen in the longitudinal direction of the vehicle, behind the axles of the rear wheels HR1 and HR2.
  • the two light beams which are directed forward by the two emitters or reflectors of the second light beam source 7 or 7 ′ in the units 23 and 24 of the front wheels VR1, VR2, are directed at the two fixed mirrors 10 in the units 23 and 24 .
  • the light beams coming from the respective second light beam sources 7 and 7 'and 8, 8' are reflected by the fixed mirrors 10 to the opposite, fixed mirror 10.
  • the light rays are forwarded to the respective rotating mirrors 4, 4 ', which, as has been explained in detail, are located in the extension of the respective wheel axles.
  • the rotating mirrors 4, 4 'let these light beams pass to the light receiver 1, 1' at given times, so that the desired angle measurement can be carried out, as described above.
  • the toe angles of the front wheels can be calculated in relation to the driving axis F (bisector of the entire rear wheel track, dash-dotted line in FIG. 7) or also in relation to the vehicle center line M (solid line in FIG. 7).
  • SOLF denotes the apex of the two measured angles aLF and bLF.
  • SOLR denotes the vertex of the two measured angles aLR and bLR.
  • SORR denotes the apex of the two angles aRR and bRR.
  • SORF denotes the apex of the two measured angles aRF and bRF.
  • SOLF 'denotes the image of the vertex SOLF which is conveyed by the fixed mirror 10 assigned to the left front wheel.
  • SOLR 'denotes the image of the vertex SOLR, which is conveyed by the fixed mirror 10 assigned to the left rear wheel.
  • SORR 'denotes the image point of the vertex SORR, which is conveyed by the fixed mirror 10 assigned to the right rear wheel.
  • SORF 'denotes the image point of the vertex SORF, which is conveyed by the mirror 10 assigned to the right front wheel.
  • the angular position c of the respective mirrors 10 are defined in the respective structural unit 23 to 26.
  • the relative positions of the four mirrors 10, which are fixed in the structural units 23 to 26, depend on the relative positions of the individual wheel axles.
  • Single track and overall track both on the front wheels as well as on the rear wheels and track difference angle can, as already explained, be determined in relation to the vehicle center line M and in relation to the driving axis F.
  • the corresponding wheel positions can be determined in the horizontal plane.
  • the difference between the driving axis F and the vehicle center line M can also be measured.
  • the wheel offset FSB and RSB between the left and right wheels can be determined both for the front wheels and for the rear wheels.
  • the wheelbases FWT and RWT can also be determined for the front and rear wheels.
  • the wheel distances RWB and and LWB of the left and right wheels in the vehicle longitudinal direction and their difference can be determined. This is explained in more detail with reference to FIG. 11.
  • the schematic representation shown in FIG. 11 explains the measurement of the wheel offset FSBl in metric units of measurement for the front wheels.
  • the wheel offset RSBl for the rear wheels can also be measured in the same way.
  • angles d and e can be determined using the following relationships.
  • the distance FRD can be determined from the angle d and the angle LFF explained above, since the distance ED of the two emitters A1 and B1 is known.
  • A1 'and B1' mean the virtual images of these two emitters which are generated by the fixed mirror 10.
  • the center distance of the two front wheels FWT can also be determined. This distance results from the distance FRD, the wheel offset angle FSB, the distance UL between the fixed mirror 10 and the vertex SORF in the rotating mirror 4 or 4 'of the angle to be measured and the distance UD of this vertex SORF from the wheel center and the turning angles the front wheels.
  • the distance RWB of the wheel centers of the rear wheels results in the same way from the two distances UL and UD, the distance HRD between the two virtual images of the emitters or the vertices SOLR 'and SORR' present on the rotating mirrors (FIG. 8) and the wheel offset angle FSB on the rear wheels and the turning angles of the rear wheels.
  • the wheel spacings LWB and RWB can be measured from the measured sensed angles LRF and RRF as well as the known distance UD and the turning angles of the wheels for both the left and for the two right wheels - seen in the vehicle longitudinal direction.
  • the wheel offset FSBl of the front wheels and the wheel offset RSBl of the rear wheels can be measured in metric units. For FSBl you need the distance FRD and the angle FSB as well as the two known distances UL and UD and also the steering angle of the two front wheels. As explained above, these variables can be determined from the measuring arrangement shown.
  • the distance HRD the distance HRD
  • the wheel offset angle RSB of the rear wheels the turning angle of the rear wheels and the known distances UL and UD are required in the same way.
  • Infrared light sources or laser beam sources can be used for the light beam sources 3, 7 and 8.
  • Infrared diode receivers or a laser diode can be used for the light receiver 1.
  • a parabolic mirror can also be used for the rotating mirror 4.
  • Other mirror shapes can also be used, with which an increase or decrease in the divergence of the light beams is achieved.
  • a DC motor can be used for the motor 5 or 5 '.
  • a micro-stepper motor is also advantageous because it allows the angular position of the motor to be determined directly.
  • parabolic mirrors or other curved mirrors can also be used for the fixed mirrors, with which an increase or decrease in the divergence of the light beams is achieved.
  • a multiplier function i. H. an enlargement or reduction of the light beam divergence can be provided.
  • another diaphragm device can also be used, with which a passage function for the individual beams is achieved after each full revolution (full angle or 360 o ). This also ensures that the beam emitted by the reference emitter (light beam source 3) and the respective beams emitted by the other light sources at time intervals which correspond to the angular distances, strike the light receiver 1 and are masked out outside the transmission function.

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  • Length Measuring Devices By Optical Means (AREA)
EP91120606A 1990-12-13 1991-11-29 Méthode et dispositif pour la mesure optique d'un angle et des positions de structures, en particulier de positions des roues d'un automobile Expired - Lifetime EP0491208B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4039881A DE4039881C2 (de) 1990-12-13 1990-12-13 Verfahren und Vorrichtung zum optischen Messen eines Winkels, den Radstellungen an Fahrzeugen zueinander bilden
DE4039881 1990-12-13

Publications (3)

Publication Number Publication Date
EP0491208A2 true EP0491208A2 (fr) 1992-06-24
EP0491208A3 EP0491208A3 (en) 1993-05-05
EP0491208B1 EP0491208B1 (fr) 1995-06-21

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EP91120606A Expired - Lifetime EP0491208B1 (fr) 1990-12-13 1991-11-29 Méthode et dispositif pour la mesure optique d'un angle et des positions de structures, en particulier de positions des roues d'un automobile

Country Status (6)

Country Link
US (1) US5208647A (fr)
EP (1) EP0491208B1 (fr)
JP (1) JP3274164B2 (fr)
DE (1) DE4039881C2 (fr)
DK (1) DK0491208T3 (fr)
ES (1) ES2075312T3 (fr)

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Also Published As

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JPH04295710A (ja) 1992-10-20
EP0491208A3 (en) 1993-05-05
ES2075312T3 (es) 1995-10-01
EP0491208B1 (fr) 1995-06-21
DE4039881A1 (de) 1992-06-17
DE4039881C2 (de) 1997-04-30
JP3274164B2 (ja) 2002-04-15
DK0491208T3 (da) 1995-10-16
US5208647A (en) 1993-05-04

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